1 files changed, 0 insertions, 792 deletions

diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
deleted file mode 100644
index 5f1115c402..0000000000
--- a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
+++ /dev/null
@@ -1,792 +0,0 @@
-
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btThreads.h"
-#include "LinearMath/btQuickprof.h"
-#include <stdio.h>
-#include <algorithm>
-
-#if BT_THREADSAFE
-
-#include "btThreadSupportInterface.h"
-
-#if defined(_WIN32)
-
-#define WIN32_LEAN_AND_MEAN
-
-#include <windows.h>
-
-#endif
-
-typedef unsigned long long btU64;
-static const int kCacheLineSize = 64;
-
-void btSpinPause()
-{
-#if defined(_WIN32)
-	YieldProcessor();
-#endif
-}
-
-struct WorkerThreadStatus
-{
-	enum Type
-	{
-		kInvalid,
-		kWaitingForWork,
-		kWorking,
-		kSleeping,
-	};
-};
-
-ATTRIBUTE_ALIGNED64(class)
-WorkerThreadDirectives
-{
-	static const int kMaxThreadCount = BT_MAX_THREAD_COUNT;
-	// directives for all worker threads packed into a single cacheline
-	char m_threadDirs[kMaxThreadCount];
-
-public:
-	enum Type
-	{
-		kInvalid,
-		kGoToSleep,         // go to sleep
-		kStayAwakeButIdle,  // wait for not checking job queue
-		kScanForJobs,       // actively scan job queue for jobs
-	};
-	WorkerThreadDirectives()
-	{
-		for (int i = 0; i < kMaxThreadCount; ++i)
-		{
-			m_threadDirs[i] = 0;
-		}
-	}
-
-	Type getDirective(int threadId)
-	{
-		btAssert(threadId < kMaxThreadCount);
-		return static_cast<Type>(m_threadDirs[threadId]);
-	}
-
-	void setDirectiveByRange(int threadBegin, int threadEnd, Type dir)
-	{
-		btAssert(threadBegin < threadEnd);
-		btAssert(threadEnd <= kMaxThreadCount);
-		char dirChar = static_cast<char>(dir);
-		for (int i = threadBegin; i < threadEnd; ++i)
-		{
-			m_threadDirs[i] = dirChar;
-		}
-	}
-};
-
-class JobQueue;
-
-ATTRIBUTE_ALIGNED64(struct)
-ThreadLocalStorage
-{
-	int m_threadId;
-	WorkerThreadStatus::Type m_status;
-	int m_numJobsFinished;
-	btSpinMutex m_mutex;
-	btScalar m_sumResult;
-	WorkerThreadDirectives* m_directive;
-	JobQueue* m_queue;
-	btClock* m_clock;
-	unsigned int m_cooldownTime;
-};
-
-struct IJob
-{
-	virtual void executeJob(int threadId) = 0;
-};
-
-class ParallelForJob : public IJob
-{
-	const btIParallelForBody* m_body;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelForJob(int iBegin, int iEnd, const btIParallelForBody& body)
-	{
-		m_body = &body;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		m_body->forLoop(m_begin, m_end);
-	}
-};
-
-class ParallelSumJob : public IJob
-{
-	const btIParallelSumBody* m_body;
-	ThreadLocalStorage* m_threadLocalStoreArray;
-	int m_begin;
-	int m_end;
-
-public:
-	ParallelSumJob(int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls)
-	{
-		m_body = &body;
-		m_threadLocalStoreArray = tls;
-		m_begin = iBegin;
-		m_end = iEnd;
-	}
-	virtual void executeJob(int threadId) BT_OVERRIDE
-	{
-		BT_PROFILE("executeJob");
-
-		// call the functor body to do the work
-		btScalar val = m_body->sumLoop(m_begin, m_end);
-#if BT_PARALLEL_SUM_DETERMINISTISM
-		// by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision)
-		const float TRUNC_SCALE = float(1 << 19);
-		val = floor(val * TRUNC_SCALE + 0.5f) / TRUNC_SCALE;  // truncate some bits
-#endif
-		m_threadLocalStoreArray[threadId].m_sumResult += val;
-	}
-};
-
-ATTRIBUTE_ALIGNED64(class)
-JobQueue
-{
-	btThreadSupportInterface* m_threadSupport;
-	btCriticalSection* m_queueLock;
-	btSpinMutex m_mutex;
-
-	btAlignedObjectArray<IJob*> m_jobQueue;
-	char* m_jobMem;
-	int m_jobMemSize;
-	bool m_queueIsEmpty;
-	int m_tailIndex;
-	int m_headIndex;
-	int m_allocSize;
-	bool m_useSpinMutex;
-	btAlignedObjectArray<JobQueue*> m_neighborContexts;
-	char m_cachePadding[kCacheLineSize];  // prevent false sharing
-
-	void freeJobMem()
-	{
-		if (m_jobMem)
-		{
-			// free old
-			btAlignedFree(m_jobMem);
-			m_jobMem = NULL;
-		}
-	}
-	void resizeJobMem(int newSize)
-	{
-		if (newSize > m_jobMemSize)
-		{
-			freeJobMem();
-			m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize));
-			m_jobMemSize = newSize;
-		}
-	}
-
-public:
-	JobQueue()
-	{
-		m_jobMem = NULL;
-		m_jobMemSize = 0;
-		m_threadSupport = NULL;
-		m_queueLock = NULL;
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_useSpinMutex = false;
-	}
-	~JobQueue()
-	{
-		exit();
-	}
-	void exit()
-	{
-		freeJobMem();
-		if (m_queueLock && m_threadSupport)
-		{
-			m_threadSupport->deleteCriticalSection(m_queueLock);
-			m_queueLock = NULL;
-			m_threadSupport = 0;
-		}
-	}
-
-	void init(btThreadSupportInterface * threadSup, btAlignedObjectArray<JobQueue> * contextArray)
-	{
-		m_threadSupport = threadSup;
-		if (threadSup)
-		{
-			m_queueLock = m_threadSupport->createCriticalSection();
-		}
-		setupJobStealing(contextArray, contextArray->size());
-	}
-	void setupJobStealing(btAlignedObjectArray<JobQueue> * contextArray, int numActiveContexts)
-	{
-		btAlignedObjectArray<JobQueue>& contexts = *contextArray;
-		int selfIndex = 0;
-		for (int i = 0; i < contexts.size(); ++i)
-		{
-			if (this == &contexts[i])
-			{
-				selfIndex = i;
-				break;
-			}
-		}
-		int numNeighbors = btMin(2, contexts.size() - 1);
-		int neighborOffsets[] = {-1, 1, -2, 2, -3, 3};
-		int numOffsets = sizeof(neighborOffsets) / sizeof(neighborOffsets[0]);
-		m_neighborContexts.reserve(numNeighbors);
-		m_neighborContexts.resizeNoInitialize(0);
-		for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++)
-		{
-			int neighborIndex = selfIndex + neighborOffsets[i];
-			if (neighborIndex >= 0 && neighborIndex < numActiveContexts)
-			{
-				m_neighborContexts.push_back(&contexts[neighborIndex]);
-			}
-		}
-	}
-
-	bool isQueueEmpty() const { return m_queueIsEmpty; }
-	void lockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.lock();
-		}
-		else
-		{
-			m_queueLock->lock();
-		}
-	}
-	void unlockQueue()
-	{
-		if (m_useSpinMutex)
-		{
-			m_mutex.unlock();
-		}
-		else
-		{
-			m_queueLock->unlock();
-		}
-	}
-	void clearQueue(int jobCount, int jobSize)
-	{
-		lockQueue();
-		m_headIndex = 0;
-		m_tailIndex = 0;
-		m_allocSize = 0;
-		m_queueIsEmpty = true;
-		int jobBufSize = jobSize * jobCount;
-		// make sure we have enough memory allocated to store jobs
-		if (jobBufSize > m_jobMemSize)
-		{
-			resizeJobMem(jobBufSize);
-		}
-		// make sure job queue is big enough
-		if (jobCount > m_jobQueue.capacity())
-		{
-			m_jobQueue.reserve(jobCount);
-		}
-		unlockQueue();
-		m_jobQueue.resizeNoInitialize(0);
-	}
-	void* allocJobMem(int jobSize)
-	{
-		btAssert(m_jobMemSize >= (m_allocSize + jobSize));
-		void* jobMem = &m_jobMem[m_allocSize];
-		m_allocSize += jobSize;
-		return jobMem;
-	}
-	void submitJob(IJob * job)
-	{
-		btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-		m_jobQueue.push_back(job);
-		lockQueue();
-		m_tailIndex++;
-		m_queueIsEmpty = false;
-		unlockQueue();
-	}
-	IJob* consumeJobFromOwnQueue()
-	{
-		if (m_queueIsEmpty)
-		{
-			// lock free path. even if this is taken erroneously it isn't harmful
-			return NULL;
-		}
-		IJob* job = NULL;
-		lockQueue();
-		if (!m_queueIsEmpty)
-		{
-			job = m_jobQueue[m_headIndex++];
-			btAssert(reinterpret_cast<char*>(job) >= &m_jobMem[0] && reinterpret_cast<char*>(job) < &m_jobMem[0] + m_allocSize);
-			if (m_headIndex == m_tailIndex)
-			{
-				m_queueIsEmpty = true;
-			}
-		}
-		unlockQueue();
-		return job;
-	}
-	IJob* consumeJob()
-	{
-		if (IJob* job = consumeJobFromOwnQueue())
-		{
-			return job;
-		}
-		// own queue is empty, try to steal from neighbor
-		for (int i = 0; i < m_neighborContexts.size(); ++i)
-		{
-			JobQueue* otherContext = m_neighborContexts[i];
-			if (IJob* job = otherContext->consumeJobFromOwnQueue())
-			{
-				return job;
-			}
-		}
-		return NULL;
-	}
-};
-
-static void WorkerThreadFunc(void* userPtr)
-{
-	BT_PROFILE("WorkerThreadFunc");
-	ThreadLocalStorage* localStorage = (ThreadLocalStorage*)userPtr;
-	JobQueue* jobQueue = localStorage->m_queue;
-
-	bool shouldSleep = false;
-	int threadId = localStorage->m_threadId;
-	while (!shouldSleep)
-	{
-		// do work
-		localStorage->m_mutex.lock();
-		while (IJob* job = jobQueue->consumeJob())
-		{
-			localStorage->m_status = WorkerThreadStatus::kWorking;
-			job->executeJob(threadId);
-			localStorage->m_numJobsFinished++;
-		}
-		localStorage->m_status = WorkerThreadStatus::kWaitingForWork;
-		localStorage->m_mutex.unlock();
-		btU64 clockStart = localStorage->m_clock->getTimeMicroseconds();
-		// while queue is empty,
-		while (jobQueue->isQueueEmpty())
-		{
-			// todo: spin wait a bit to avoid hammering the empty queue
-			btSpinPause();
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep)
-			{
-				shouldSleep = true;
-				break;
-			}
-			// if jobs are incoming,
-			if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs)
-			{
-				clockStart = localStorage->m_clock->getTimeMicroseconds();  // reset clock
-			}
-			else
-			{
-				for (int i = 0; i < 50; ++i)
-				{
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					btSpinPause();
-					if (localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty())
-					{
-						break;
-					}
-				}
-				// if no jobs incoming and queue has been empty for the cooldown time, sleep
-				btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart;
-				if (timeElapsed > localStorage->m_cooldownTime)
-				{
-					shouldSleep = true;
-					break;
-				}
-			}
-		}
-	}
-	{
-		BT_PROFILE("sleep");
-		// go sleep
-		localStorage->m_mutex.lock();
-		localStorage->m_status = WorkerThreadStatus::kSleeping;
-		localStorage->m_mutex.unlock();
-	}
-}
-
-class btTaskSchedulerDefault : public btITaskScheduler
-{
-	btThreadSupportInterface* m_threadSupport;
-	WorkerThreadDirectives* m_workerDirective;
-	btAlignedObjectArray<JobQueue> m_jobQueues;
-	btAlignedObjectArray<JobQueue*> m_perThreadJobQueues;
-	btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage;
-	btSpinMutex m_antiNestingLock;  // prevent nested parallel-for
-	btClock m_clock;
-	int m_numThreads;
-	int m_numWorkerThreads;
-	int m_numActiveJobQueues;
-	int m_maxNumThreads;
-	int m_numJobs;
-	static const int kFirstWorkerThreadId = 1;
-
-public:
-	btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
-	{
-		m_threadSupport = NULL;
-		m_workerDirective = NULL;
-	}
-
-	virtual ~btTaskSchedulerDefault()
-	{
-		waitForWorkersToSleep();
-
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].exit();
-		}
-
-		if (m_threadSupport)
-		{
-			delete m_threadSupport;
-			m_threadSupport = NULL;
-		}
-		if (m_workerDirective)
-		{
-			btAlignedFree(m_workerDirective);
-			m_workerDirective = NULL;
-		}
-	}
-
-	void init()
-	{
-		btThreadSupportInterface::ConstructionInfo constructionInfo("TaskScheduler", WorkerThreadFunc);
-		m_threadSupport = btThreadSupportInterface::create(constructionInfo);
-		m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64));
-
-		m_numWorkerThreads = m_threadSupport->getNumWorkerThreads();
-		m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1;
-		m_numThreads = m_maxNumThreads;
-		// ideal to have one job queue for each physical processor (except for the main thread which needs no queue)
-		int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio();
-		int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads - 1) : (m_maxNumThreads / numThreadsPerQueue);
-		m_jobQueues.resize(numJobQueues);
-		m_numActiveJobQueues = numJobQueues;
-		for (int i = 0; i < m_jobQueues.size(); ++i)
-		{
-			m_jobQueues[i].init(m_threadSupport, &m_jobQueues);
-		}
-		m_perThreadJobQueues.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			JobQueue* jq = NULL;
-			// only worker threads get a job queue
-			if (i > 0)
-			{
-				if (numThreadsPerQueue == 1)
-				{
-					// one queue per worker thread
-					jq = &m_jobQueues[i - kFirstWorkerThreadId];
-				}
-				else
-				{
-					// 2 threads share each queue
-					jq = &m_jobQueues[i / numThreadsPerQueue];
-				}
-			}
-			m_perThreadJobQueues[i] = jq;
-		}
-		m_threadLocalStorage.resize(m_numThreads);
-		for (int i = 0; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_threadId = i;
-			storage.m_directive = m_workerDirective;
-			storage.m_status = WorkerThreadStatus::kSleeping;
-			storage.m_cooldownTime = 100;  // 100 microseconds, threads go to sleep after this long if they have nothing to do
-			storage.m_clock = &m_clock;
-			storage.m_queue = m_perThreadJobQueues[i];
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);  // no work for them yet
-		setNumThreads(m_threadSupport->getCacheFriendlyNumThreads());
-	}
-
-	void setWorkerDirectives(WorkerThreadDirectives::Type dir)
-	{
-		m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir);
-	}
-
-	virtual int getMaxNumThreads() const BT_OVERRIDE
-	{
-		return m_maxNumThreads;
-	}
-
-	virtual int getNumThreads() const BT_OVERRIDE
-	{
-		return m_numThreads;
-	}
-
-	virtual void setNumThreads(int numThreads) BT_OVERRIDE
-	{
-		m_numThreads = btMax(btMin(numThreads, int(m_maxNumThreads)), 1);
-		m_numWorkerThreads = m_numThreads - 1;
-		m_numActiveJobQueues = 0;
-		// if there is at least 1 worker,
-		if (m_numWorkerThreads > 0)
-		{
-			// re-setup job stealing between queues to avoid attempting to steal from an inactive job queue
-			JobQueue* lastActiveContext = m_perThreadJobQueues[m_numThreads - 1];
-			int iLastActiveContext = lastActiveContext - &m_jobQueues[0];
-			m_numActiveJobQueues = iLastActiveContext + 1;
-			for (int i = 0; i < m_jobQueues.size(); ++i)
-			{
-				m_jobQueues[i].setupJobStealing(&m_jobQueues, m_numActiveJobQueues);
-			}
-		}
-		m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void waitJobs()
-	{
-		BT_PROFILE("waitJobs");
-		// have the main thread work until the job queues are empty
-		int numMainThreadJobsFinished = 0;
-		for (int i = 0; i < m_numActiveJobQueues; ++i)
-		{
-			while (IJob* job = m_jobQueues[i].consumeJob())
-			{
-				job->executeJob(0);
-				numMainThreadJobsFinished++;
-			}
-		}
-
-		// done with jobs for now, tell workers to rest (but not sleep)
-		setWorkerDirectives(WorkerThreadDirectives::kStayAwakeButIdle);
-
-		btU64 clockStart = m_clock.getTimeMicroseconds();
-		// wait for workers to finish any jobs in progress
-		while (true)
-		{
-			int numWorkerJobsFinished = 0;
-			for (int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread)
-			{
-				ThreadLocalStorage* storage = &m_threadLocalStorage[iThread];
-				storage->m_mutex.lock();
-				numWorkerJobsFinished += storage->m_numJobsFinished;
-				storage->m_mutex.unlock();
-			}
-			if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs)
-			{
-				break;
-			}
-			btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart;
-			btAssert(timeElapsed < 1000);
-			if (timeElapsed > 100000)
-			{
-				break;
-			}
-			btSpinPause();
-		}
-	}
-
-	void wakeWorkers(int numWorkersToWake)
-	{
-		BT_PROFILE("wakeWorkers");
-		btAssert(m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs);
-		int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads);
-		int numActiveWorkers = 0;
-		for (int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker)
-		{
-			// note this count of active workers is not necessarily totally reliable, because a worker thread could be
-			// just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare.
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status != WorkerThreadStatus::kSleeping)
-			{
-				numActiveWorkers++;
-			}
-		}
-		for (int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[kFirstWorkerThreadId + iWorker];
-			if (storage.m_status == WorkerThreadStatus::kSleeping)
-			{
-				m_threadSupport->runTask(iWorker, &storage);
-				numActiveWorkers++;
-			}
-		}
-	}
-
-	void waitForWorkersToSleep()
-	{
-		BT_PROFILE("waitForWorkersToSleep");
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-		m_threadSupport->waitForAllTasks();
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; i++)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			btAssert(storage.m_status == WorkerThreadStatus::kSleeping);
-		}
-	}
-
-	virtual void sleepWorkerThreadsHint() BT_OVERRIDE
-	{
-		BT_PROFILE("sleepWorkerThreadsHint");
-		// hint the task scheduler that we may not be using these threads for a little while
-		setWorkerDirectives(WorkerThreadDirectives::kGoToSleep);
-	}
-
-	void prepareWorkerThreads()
-	{
-		for (int i = kFirstWorkerThreadId; i < m_numThreads; ++i)
-		{
-			ThreadLocalStorage& storage = m_threadLocalStorage[i];
-			storage.m_mutex.lock();
-			storage.m_numJobsFinished = 0;
-			storage.m_mutex.unlock();
-		}
-		setWorkerDirectives(WorkerThreadDirectives::kScanForJobs);
-	}
-
-	virtual void parallelFor(int iBegin, int iEnd, int grainSize, const btIParallelForBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelFor_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelForJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelForJob(i, iE, body);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-			m_antiNestingLock.unlock();
-		}
-		else
-		{
-			BT_PROFILE("parallelFor_mainThread");
-			// just run on main thread
-			body.forLoop(iBegin, iEnd);
-		}
-	}
-	virtual btScalar parallelSum(int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body) BT_OVERRIDE
-	{
-		BT_PROFILE("parallelSum_ThreadSupport");
-		btAssert(iEnd >= iBegin);
-		btAssert(grainSize >= 1);
-		int iterationCount = iEnd - iBegin;
-		if (iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock())
-		{
-			typedef ParallelSumJob JobType;
-			int jobCount = (iterationCount + grainSize - 1) / grainSize;
-			m_numJobs = jobCount;
-			btAssert(jobCount >= 2);  // need more than one job for multithreading
-			int jobSize = sizeof(JobType);
-			for (int i = 0; i < m_numActiveJobQueues; ++i)
-			{
-				m_jobQueues[i].clearQueue(jobCount, jobSize);
-			}
-
-			// initialize summation
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				m_threadLocalStorage[iThread].m_sumResult = btScalar(0);
-			}
-
-			// prepare worker threads for incoming work
-			prepareWorkerThreads();
-			// submit all of the jobs
-			int iJob = 0;
-			int iThread = kFirstWorkerThreadId;  // first worker thread
-			for (int i = iBegin; i < iEnd; i += grainSize)
-			{
-				btAssert(iJob < jobCount);
-				int iE = btMin(i + grainSize, iEnd);
-				JobQueue* jq = m_perThreadJobQueues[iThread];
-				btAssert(jq);
-				btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
-				void* jobMem = jq->allocJobMem(jobSize);
-				JobType* job = new (jobMem) ParallelSumJob(i, iE, body, &m_threadLocalStorage[0]);  // placement new
-				jq->submitJob(job);
-				iJob++;
-				iThread++;
-				if (iThread >= m_numThreads)
-				{
-					iThread = kFirstWorkerThreadId;  // first worker thread
-				}
-			}
-			wakeWorkers(jobCount - 1);
-
-			// put the main thread to work on emptying the job queue and then wait for all workers to finish
-			waitJobs();
-
-			// add up all the thread sums
-			btScalar sum = btScalar(0);
-			for (int iThread = 0; iThread < m_numThreads; ++iThread)
-			{
-				sum += m_threadLocalStorage[iThread].m_sumResult;
-			}
-			m_antiNestingLock.unlock();
-			return sum;
-		}
-		else
-		{
-			BT_PROFILE("parallelSum_mainThread");
-			// just run on main thread
-			return body.sumLoop(iBegin, iEnd);
-		}
-	}
-};
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
-	ts->init();
-	return ts;
-}
-
-#else  // #if BT_THREADSAFE
-
-btITaskScheduler* btCreateDefaultTaskScheduler()
-{
-	return NULL;
-}
-
-#endif  // #else // #if BT_THREADSAFE